iche033
commented
2 years ago Can you check if you have ignition-rendering version 6.5.1?
Closed chalseokim closed 2 years ago
iche033
commented
2 years ago Can you check if you have ignition-rendering version 6.5.1?
jiazk1226
commented
2 years ago Hello, we are facing the same problem. In the previous issue, we planned to use different cameras of different UAVs to report the positions of the target vessel and the object respectively. However, in the new version, after we received vessel_id_success, we close the streaming, then use another UAV to identify the object and report the position. When the object is identified and reported, the process of mbzirc_simulater shut down and reports the following error message. However, when we use the same camera on the same UAV, everything goes well. We can get feedback from /mbzirc/phase in turn: vessel_id_success >> small_object_id_success >> large_object_id_success.
We checked the ignition-rendering version and the version is 6.5.1.
Thank you.
[ign gazebo-1] ign gazebo server: /var/lib/jenkins/workspace/ogre-2.2-debbuilder/repo/OgreMain/src/OgreTextureGpu.cpp:175: void Ogre::TextureGpu::setResolution(Ogre::uint32, Ogre::uint32, Ogre::uint32): Assertion `mResidencyStatus == GpuResidency::OnStorage || isRenderWindowSpecific()' failed.
[ign gazebo-1] Stack trace (most recent call last) in thread 2335238:
[ign gazebo-1] #22 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd884ab2132, in clone
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7fd884978608, in
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7fd8807a8de3, in
[ign gazebo-1] #18 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-sensors-system.so", at 0x7fd856afb867, in ignition::gazebo::v6::systems::SensorsPrivate::RenderThread()
[ign gazebo-1] #17 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-sensors-system.so", at 0x7fd856afb1f2, in ignition::gazebo::v6::systems::SensorsPrivate::RunOnce()
[ign gazebo-1] #16 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd854670ff4, in std::_Function_handler<void (), std::_Bind<void (mbzirc::GameLogicPluginPrivate::*(mbzirc::GameLogicPluginPrivate*))()> >::_M_invoke(std::_Any_data const&)
[ign gazebo-1] #15 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85467f2fe, in void std::_Bind<void (mbzirc::GameLogicPluginPrivate::*(mbzirc::GameLogicPluginPrivate*))()>::operator()<, void>()
[ign gazebo-1] #14 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85468cdd0, in void std::_Bind<void (mbzirc::GameLogicPluginPrivate::*(mbzirc::GameLogicPluginPrivate*))()>::__call<void, , 0ul>(std::tuple<>&&, std::_Index_tuple<0ul>)
[ign gazebo-1] #13 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85469abfa, in std::__invoke_result<void (mbzirc::GameLogicPluginPrivate::*&)(), mbzirc::GameLogicPluginPrivate*&>::type std::__invoke<void (mbzirc::GameLogicPluginPrivate::*&)(), mbzirc::GameLogicPluginPrivate*&>(void (mbzirc::GameLogicPluginPrivate::*&)(), mbzirc::GameLogicPluginPrivate*&)
[ign gazebo-1] #12 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd8546a7697, in void std::__invoke_impl<void, void (mbzirc::GameLogicPluginPrivate::*&)(), mbzirc::GameLogicPluginPrivate*&>(std::__invoke_memfun_deref, void (mbzirc::GameLogicPluginPrivate::*&)(), mbzirc::GameLogicPluginPrivate*&)
[ign gazebo-1] #11 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85464c642, in mbzirc::GameLogicPluginPrivate::OnPostRender()
[ign gazebo-1] #10 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85464d12a, in mbzirc::GameLogicPluginPrivate::FindTargetVisual(std::shared_ptr<ignition::rendering::v6::Visual> const&, ignition::math::v6::Vector2<int> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const
[ign gazebo-1] #9 Object "/home/vision/mbzirc_ws/install/lib/libGameLogicPlugin.so", at 0x7fd85464e151, in mbzirc::GameLogicPluginPrivate::VisualAt(unsigned int, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const
[ign gazebo-1] #8 Object "/usr/lib/x86_64-linux-gnu/ign-rendering-6/engine-plugins/libignition-rendering-ogre2.so", at 0x7fd830203c95, in ignition::rendering::v6::Ogre2Camera::VisualAt(ignition::math::v6::Vector2<int> const&)
[ign gazebo-1] #7 Object "/usr/lib/x86_64-linux-gnu/ign-rendering-6/engine-plugins/libignition-rendering-ogre2.so", at 0x7fd8302029f3, in ignition::rendering::v6::Ogre2Camera::SetSelectionBuffer()
[ign gazebo-1] #6 Object "/usr/lib/x86_64-linux-gnu/ign-rendering-6/engine-plugins/libignition-rendering-ogre2.so", at 0x7fd8302a3a6f, in ignition::rendering::v6::Ogre2SelectionBuffer::Ogre2SelectionBuffer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<ignition::rendering::v6::Ogre2Scene>, unsigned int, unsigned int)
[ign gazebo-1] #5 Object "/usr/lib/x86_64-linux-gnu/ign-rendering-6/engine-plugins/libignition-rendering-ogre2.so", at 0x7fd8302a2827, in ignition::rendering::v6::Ogre2SelectionBuffer::CreateRTTBuffer()
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libOgreMain.so.2.2.6", at 0x7fd8148b019f, in Ogre::TextureGpu::setResolution(unsigned int, unsigned int, unsigned int)
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8849c6fd5, in __assert_fail
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8849b5728, in
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8849b5858, in abort
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8849d600b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 2335156 1000)
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] QFileSystemWatcher::removePaths: list is empty
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] QFileSystemWatcher::removePaths: list is empty
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] QObject::startTimer: Timers can only be used with threads started with QThread
[ign gazebo-1] [Msg] Target report in stream: v[GUI] [Dbg] [SignalHandler.cc:141] Received signal[2].
[ign gazebo-1] [GUI] [Dbg] [Gui.cc:331] Shutting down ign-gazebo-gui
[ign gazebo-1] [GUI] [Dbg] [Application.cc:134] Terminating application.
[ign gazebo-1] [GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[ign gazebo-1] [GUI] [Dbg] [MinimalScene.cc:583] Destroy scene [scene]
[INFO] [ign gazebo-1]: process has finished cleanly [pid 2335137]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[parameter_bridge-2] [INFO] [1660640878.099121936] [rclcpp]: signal_handler(signal_value=2)
[ERROR] [parameter_bridge-2]: process[parameter_bridge-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [parameter_bridge-2]: sending signal 'SIGTERM' to process[parameter_bridge-2]
[INFO] [parameter_bridge-2]: process has finished cleanly [pid 2335139]Package: libignition-rendering6-dev
Versions:
6.5.1-1~focal (/var/lib/apt/lists/packages.osrfoundation.org_gazebo_ubuntu-stable_dists_focal_main_binary-amd64_Packages)
Description Language:
File: /var/lib/apt/lists/packages.osrfoundation.org_gazebo_ubuntu-stable_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/dpkg/status
MD5: 407e5ec2f0cfd9c4691129defe9d0212
6.4.0-1~focal (/var/lib/dpkg/status)
Description Language:
File: /var/lib/apt/lists/packages.osrfoundation.org_gazebo_ubuntu-stable_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/dpkg/status
MD5: 407e5ec2f0cfd9c4691129defe9d0212
6.3.1-1~focal (/var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_focal_main_binary-amd64_Packages)
Description Language:
File: /var/lib/apt/lists/packages.osrfoundation.org_gazebo_ubuntu-stable_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_focal_main_binary-amd64_Packages
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Description Language:
File: /var/lib/dpkg/status
MD5: 407e5ec2f0cfd9c4691129defe9d0212
Reverse Depends:
libignition-gazebo6-dev,libignition-rendering6-dev 6.5.0
libignition-gazebo6-dev,libignition-rendering6-dev
ignition-fortress,libignition-rendering6-dev 6.3.1
Dependencies:
6.5.1-1~focal - libignition-rendering6-core-dev (5 6.5.1-1~focal) libignition-rendering6-ogre1-dev (5 6.5.1-1~focal) libignition-rendering6-ogre2-dev (5 6.5.1-1~focal) libignition-rendering6 (5 6.5.1-1~focal)
6.4.0-1~focal - libignition-rendering6-core-dev (5 6.4.0-1~focal) libignition-rendering6-ogre1-dev (5 6.4.0-1~focal) libignition-rendering6-ogre2-dev (5 6.4.0-1~focal) libignition-rendering6 (5 6.4.0-1~focal)
6.3.1-1~focal - libignition-rendering6-core-dev (5 6.3.1-1~focal) libignition-rendering6-ogre1-dev (5 6.3.1-1~focal) libignition-rendering6-ogre2-dev (5 6.3.1-1~focal) libignition-rendering6 (5 6.3.1-1~focal)
Provides:
6.5.1-1~focal -
6.4.0-1~focal -
6.3.1-1~focal -
Reverse Provides:Can you also check: libignition-rendering6-ogre2-dev, e.g. post the output of
dpkg -l | grep libignition-rendering6-ogre2-devIn your mbzirc_ws, you can also double check and verify that it's linking against the correct ign-rendering library
ldd `find install/ | grep GameLogic` | grep rendering6The process we have been using for testing switching streams when reporting target is described in #195. Let me know if you see anything different that we're doing from your use case.
jiazk1226
commented
2 years ago Thank you, this solved my problem!
I input dpkg -l | grep libignition-rendering6-ogre2-dev in the terminal and find the version of libignition-rendering6-ogre2-dev is 6.4.1. Then I update it and everything was done.
Thank you again!
iche033
commented
2 years ago great to hear that!
iche033
commented
2 years ago @chalseokim looking closely at your backtrace, it seems to be related to a recent change added for logging target report images. To be safe, I disabled it in https://github.com/osrf/mbzirc/pull/214.
dongk-97
commented
2 years ago We have checked the version of the ignition rendering and it is 6.5.1. Also, we checked that the linking is correct as below.
dpkg -l | grep libignition-rendering6-ogre2-dev
ii libignition-rendering6-ogre2-dev:amd64 6.5.1-1~focal amd64 Ignition rendering classes and functions for robot apps - Development filesWe found that the phase transition works fine when we use vga camera and the shutting down issue occurs when the endpoint camera is an rgbd.
Are we not allowed to stream using an rgbd or is this a bug? If not, do we have a different dependency issue?
Thank you.
iche033
commented
2 years ago Are we not allowed to stream using an rgbd or is this a bug? If not, do we have a different dependency issue?
Found that it's a bug. Do you need to use rgbd camera for reporting targets or can you workaround the issue? In any case, I have created a PR to fix the issue in https://github.com/osrf/mbzirc/pull/216 first.
Hello, we are currently attempting to get confirmation from the base station. We are having difficulty with this as the simulator shuts down when we use the commandline from the wiki page which are
ros2 run image_transport republish raw --ros-args --remap in:=/quadrotor_17/slot3/optical/image_raw --remap out:=/quadrotor_17/mbzirc/target/stream/startros2 topic pub --once /quadrotor_1/mbzirc/target/stream/report ros_ign_interfaces/msg/StringVec '{data: ["vessel", "0", "0"]}'Below is the terminal output right after the report, the second command.
Thank you in advance.